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   <div id="projectname">Beastie Bot Code
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   <div id="projectbrief">Code for the Beastie Bots, team 3785, from the 2012-2013 FTC season, Ring It Up!</div>
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<div class="title">teleop.c</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma config(Hubs,  S1, HTMotor,  HTServo,  none,     none)</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Hubs,  S2, HTMotor,  HTMotor,  HTMotor,  none)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Sensor, S1,     ,               sensorI2CMuxController)</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Sensor, S2,     ,               sensorI2CMuxController)</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Sensor, S3,     ProtoBoard,     sensorI2CCustomFastSkipStates9V)</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Sensor, S4,     IRMux,          sensorI2CCustomFastSkipStates)</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S1_C1_1,     RightBack,     tmotorTetrix, openLoop, encoder)</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S1_C1_2,     LeftBack,      tmotorTetrix, openLoop, reversed, encoder)</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C1_1,     RightFront,    tmotorTetrix, openLoop, encoder)</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C1_2,     LeftFront,     tmotorTetrix, openLoop, reversed, encoder)</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C2_1,     LeftLift,      tmotorTetrix, openLoop, encoder)</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C2_2,     RightLift,     tmotorTetrix, openLoop, encoder)</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C3_1,     TopLift,       tmotorTetrix, openLoop, encoder)</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Motor,  mtr_S2_C3_2,     motorK,        tmotorTetrix, openLoop)</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_1,    LeftGripper1,         tServoStandard)</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_2,    LeftGripper2,         tServoStandard)</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_3,    RightGripper1,        tServoStandard)</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_4,    RightGripper2,        tServoStandard)</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_5,    LateralGripper,       tServoContinuousRotation)</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#pragma config(Servo,  srvo_S1_C2_6,    servo6,               tServoNone)</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor"></span><span class="comment">//*!!Code automatically generated by &#39;ROBOTC&#39; configuration wizard               !!*//</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//                           Tele-Operation Mode Code Template</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// This file contains a template for simplified creation of an tele-op program for an FTC</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// competition.</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">// You need to customize two functions with code unique to your specific robot.</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;JoystickDriver.c&quot;</span>  <span class="comment">//Include file to &quot;handle&quot; the Bluetooth messages.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_lift_manager_8h.html" title="Useful functions for controlling the height of the lift.">LiftManager.h</a>&quot;</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">//                                    initializeRobot</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">// Prior to the start of tele-op mode, you may want to perform some initialization on your robot</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">// and the variables within your program.</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">// In most cases, you may not have to add any code to this function and it will remain &quot;empty&quot;.</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#define rightjoy joystick.joy1_y1/127.0*100.0</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define leftjoy joystick.joy1_y2/127.0*100.0</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define leftjoy2 -joystick.joy2_y2/127.0*90.0</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keywordtype">void</span> gripperAdjust(<span class="keywordtype">int</span> position)</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    servo[LeftGripper1]=position;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    servo[LeftGripper2]=position;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    servo[RightGripper1]=255-position;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    servo[RightGripper2]=255-position;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keywordtype">void</span> initializeRobot()</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    servoChangeRate[LeftGripper1]=5;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    servoChangeRate[LeftGripper2]=5;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    servoChangeRate[RightGripper1]=5;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    servoChangeRate[RightGripper2]=5;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">// Place code here to sinitialize servos to starting positions.</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">// Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    gripperAdjust(150);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="comment">//                                         Main Task</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">// The following is the main code for the tele-op robot operation. Customize as appropriate for</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">// your specific robot.</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="comment">// Game controller / joystick information is sent periodically (about every 50 milliseconds) from</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment">// the FMS (Field Management System) to the robot. Most tele-op programs will follow the following</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">// logic:</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">//   1. Loop forever repeating the following actions:</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="comment">//   2. Get the latest game controller / joystick settings that have been received from the PC.</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="comment">//   3. Perform appropriate actions based on the joystick + buttons settings. This is usually a</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="comment">//      simple action:</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="comment">//      *  Joystick values are usually directly translated into power levels for a motor or</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">//         position of a servo.</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment">//      *  Buttons are usually used to start/stop a motor or cause a servo to move to a specific</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment">//         position.</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">//   4. Repeat the loop.</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="comment">// Your program needs to continuously loop because you need to continuously respond to changes in</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="comment">// the game controller settings.</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="comment">// At the end of the tele-op period, the FMS will autonmatically abort (stop) execution of the program.</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment"></span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="code" href="structservobuttons.html">  103</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;{</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordtype">bool</span> pressed;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordtype">bool</span> open;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;} <a class="code" href="structservobuttons.html">servobuttons</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;task main()</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;{</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <a class="code" href="structservobuttons.html">servobuttons</a> gripper;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    initializeRobot();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    waitForStart();   <span class="comment">// wait for start of tele-op phase</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordflow">while</span> (<span class="keyword">true</span>)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keywordtype">bool</span> flipped=<span class="keyword">false</span>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">bool</span> slow=<span class="keyword">false</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        getJoystickSettings(joystick);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordflow">if</span>(joy1Btn(7)&amp;&amp;!flipped)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;            flipped=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;            slow=!slow;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordflow">if</span>(!joy1Btn(7))</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;            flipped=<span class="keyword">false</span>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keywordflow">if</span>(joystick.joy2_TopHat==0)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            motor[RightFront]=20;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            motor[RightBack]=20;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            motor[LeftFront]=20;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            motor[LeftBack]=20;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span>(joystick.joy2_TopHat==4)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            motor[RightFront]=-20;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            motor[RightBack]=-20;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            motor[LeftFront]=-20;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;            motor[LeftBack]=-20;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;            <span class="keywordflow">if</span>(!slow)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;            {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                <span class="keywordflow">if</span> (abs(leftjoy)&gt;10)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                    motor[LeftFront]=leftjoy;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                    motor[LeftBack]=leftjoy;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                <span class="keywordflow">else</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                    motor[LeftFront]=0;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                    motor[LeftBack]=0;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                <span class="keywordflow">if</span> (abs(rightjoy)&gt;10)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                {</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                    motor[RightFront]=rightjoy;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                    motor[RightBack]=rightjoy;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                <span class="keywordflow">else</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                {</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                    motor[RightFront]=0;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                    motor[RightBack]=0;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;            }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;            <span class="comment">//slow</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                motor[LeftFront]=0;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                motor[LeftBack]=0;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            <span class="keywordflow">if</span> (abs(rightjoy)&gt;10)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                motor[RightFront]=rightjoy/3;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                motor[RightBack]=rightjoy/3;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                motor[RightFront]=0;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                motor[RightBack]=0;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordflow">if</span> (abs(leftjoy2)&gt;10)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            StopTask(<a class="code" href="_lift_manager_8h.html#ae394e744af7c641b8b3c9048d2d65ded" title="Manges the lift instance of the PID controller.">moveLift</a>);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            motor[RightLift]=leftjoy2;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            motor[LeftLift]=leftjoy2;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            motor[TopLift]=leftjoy2;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            motor[RightLift]=0;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            motor[LeftLift]=0;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            motor[TopLift]=0;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordflow">if</span>((joy2Btn(2))&amp;&amp;!gripper.pressed)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            gripper.pressed=<span class="keyword">true</span>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            gripper.open=!gripper.open;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordflow">if</span>(!(joy2Btn(2)))</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            gripper.pressed=<span class="keyword">false</span>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordflow">if</span> (gripper.open)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        {</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;            gripperAdjust(160);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordflow">if</span> (!gripper.open)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;            gripperAdjust(125);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordflow">if</span>(joystick.joy2_TopHat==2)</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        {</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;            servo[LateralGripper]=255;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        }</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span>(joystick.joy2_TopHat==6)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;            servo[LateralGripper]=0;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;            servo[LateralGripper]=128;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;}</div>
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